{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:FK3N2JL2WJFABUWGMXFPQH52OS","short_pith_number":"pith:FK3N2JL2","canonical_record":{"source":{"id":"2204.13683","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-04-28T17:48:48Z","cross_cats_sorted":["cs.CV","cs.LG"],"title_canon_sha256":"2c76e880a39b775afeea4e9d7fbb65d942bd295afb7dc87c43020ecca22ddf83","abstract_canon_sha256":"5f797cf82d8a6c38ad7e558585a1c95ee89789cc8d2cfca8bb965c299a7b4566"},"schema_version":"1.0"},"canonical_sha256":"2ab6dd257ab24a00d2c665caf81fba748ea75b632a1e168a2a339fa4fded3c2c","source":{"kind":"arxiv","id":"2204.13683","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2204.13683","created_at":"2026-07-05T04:18:44Z"},{"alias_kind":"arxiv_version","alias_value":"2204.13683v1","created_at":"2026-07-05T04:18:44Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2204.13683","created_at":"2026-07-05T04:18:44Z"},{"alias_kind":"pith_short_12","alias_value":"FK3N2JL2WJFA","created_at":"2026-07-05T04:18:44Z"},{"alias_kind":"pith_short_16","alias_value":"FK3N2JL2WJFABUWG","created_at":"2026-07-05T04:18:44Z"},{"alias_kind":"pith_short_8","alias_value":"FK3N2JL2","created_at":"2026-07-05T04:18:44Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:FK3N2JL2WJFABUWGMXFPQH52OS","target":"record","payload":{"canonical_record":{"source":{"id":"2204.13683","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-04-28T17:48:48Z","cross_cats_sorted":["cs.CV","cs.LG"],"title_canon_sha256":"2c76e880a39b775afeea4e9d7fbb65d942bd295afb7dc87c43020ecca22ddf83","abstract_canon_sha256":"5f797cf82d8a6c38ad7e558585a1c95ee89789cc8d2cfca8bb965c299a7b4566"},"schema_version":"1.0"},"canonical_sha256":"2ab6dd257ab24a00d2c665caf81fba748ea75b632a1e168a2a339fa4fded3c2c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:18:44.614290Z","signature_b64":"/L4LTo4Ef6cYi5vxo0dKZQlgcrEX9ooRHXDVDYI9xSTeg3q1x2kYagy/1kWmdI3gC8oOms2PvKsDWxkUMqlSDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"2ab6dd257ab24a00d2c665caf81fba748ea75b632a1e168a2a339fa4fded3c2c","last_reissued_at":"2026-07-05T04:18:44.613695Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:18:44.613695Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2204.13683","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T04:18:44Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"E2uyiqtCsKug38oHVMyMHMiXlMo87zjQzWMClBi3V6G0yNBho7YPkUdnss7zjRuf8eswc/ngoGWo0THS8Bq0CQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T08:11:35.558449Z"},"content_sha256":"3f6511cc07a1dda3dac582be6ef9ce53a7465e88c8804b72b506e74fa74a4ff3","schema_version":"1.0","event_id":"sha256:3f6511cc07a1dda3dac582be6ef9ce53a7465e88c8804b72b506e74fa74a4ff3"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:FK3N2JL2WJFABUWGMXFPQH52OS","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"KING: Generating Safety-Critical Driving Scenarios for Robust Imitation via Kinematics Gradients","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV","cs.LG"],"primary_cat":"cs.RO","authors_text":"Andreas Geiger, Apratim Bhattacharyya, Kashyap Chitta, Katrin Renz, Niklas Hanselmann","submitted_at":"2022-04-28T17:48:48Z","abstract_excerpt":"Simulators offer the possibility of safe, low-cost development of self-driving systems. However, current driving simulators exhibit na\\\"ive behavior models for background traffic. Hand-tuned scenarios are typically added during simulation to induce safety-critical situations. An alternative approach is to adversarially perturb the background traffic trajectories. In this paper, we study this approach to safety-critical driving scenario generation using the CARLA simulator. We use a kinematic bicycle model as a proxy to the simulator's true dynamics and observe that gradients through this proxy"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2204.13683","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2204.13683/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T04:18:44Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"cVUPqNoxUSaseR+QISlGQdMYUSO34Mup6AedtVsFtIZ8Bb/fvj9GkYP3eNvMSk8Yy8JP8nRMbeXGXXK9gJHvBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T08:11:35.558823Z"},"content_sha256":"5d1e8aaaf2b7350964b8b3d6ceaae483b37442322f594524bed46dd82c227ee5","schema_version":"1.0","event_id":"sha256:5d1e8aaaf2b7350964b8b3d6ceaae483b37442322f594524bed46dd82c227ee5"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/FK3N2JL2WJFABUWGMXFPQH52OS/bundle.json","state_url":"https://pith.science/pith/FK3N2JL2WJFABUWGMXFPQH52OS/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/FK3N2JL2WJFABUWGMXFPQH52OS/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-07-06T08:11:35Z","links":{"resolver":"https://pith.science/pith/FK3N2JL2WJFABUWGMXFPQH52OS","bundle":"https://pith.science/pith/FK3N2JL2WJFABUWGMXFPQH52OS/bundle.json","state":"https://pith.science/pith/FK3N2JL2WJFABUWGMXFPQH52OS/state.json","well_known_bundle":"https://pith.science/.well-known/pith/FK3N2JL2WJFABUWGMXFPQH52OS/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:FK3N2JL2WJFABUWGMXFPQH52OS","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"5f797cf82d8a6c38ad7e558585a1c95ee89789cc8d2cfca8bb965c299a7b4566","cross_cats_sorted":["cs.CV","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-04-28T17:48:48Z","title_canon_sha256":"2c76e880a39b775afeea4e9d7fbb65d942bd295afb7dc87c43020ecca22ddf83"},"schema_version":"1.0","source":{"id":"2204.13683","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2204.13683","created_at":"2026-07-05T04:18:44Z"},{"alias_kind":"arxiv_version","alias_value":"2204.13683v1","created_at":"2026-07-05T04:18:44Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2204.13683","created_at":"2026-07-05T04:18:44Z"},{"alias_kind":"pith_short_12","alias_value":"FK3N2JL2WJFA","created_at":"2026-07-05T04:18:44Z"},{"alias_kind":"pith_short_16","alias_value":"FK3N2JL2WJFABUWG","created_at":"2026-07-05T04:18:44Z"},{"alias_kind":"pith_short_8","alias_value":"FK3N2JL2","created_at":"2026-07-05T04:18:44Z"}],"graph_snapshots":[{"event_id":"sha256:5d1e8aaaf2b7350964b8b3d6ceaae483b37442322f594524bed46dd82c227ee5","target":"graph","created_at":"2026-07-05T04:18:44Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2204.13683/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Simulators offer the possibility of safe, low-cost development of self-driving systems. However, current driving simulators exhibit na\\\"ive behavior models for background traffic. Hand-tuned scenarios are typically added during simulation to induce safety-critical situations. An alternative approach is to adversarially perturb the background traffic trajectories. In this paper, we study this approach to safety-critical driving scenario generation using the CARLA simulator. We use a kinematic bicycle model as a proxy to the simulator's true dynamics and observe that gradients through this proxy","authors_text":"Andreas Geiger, Apratim Bhattacharyya, Kashyap Chitta, Katrin Renz, Niklas Hanselmann","cross_cats":["cs.CV","cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-04-28T17:48:48Z","title":"KING: Generating Safety-Critical Driving Scenarios for Robust Imitation via Kinematics Gradients"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2204.13683","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:3f6511cc07a1dda3dac582be6ef9ce53a7465e88c8804b72b506e74fa74a4ff3","target":"record","created_at":"2026-07-05T04:18:44Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"5f797cf82d8a6c38ad7e558585a1c95ee89789cc8d2cfca8bb965c299a7b4566","cross_cats_sorted":["cs.CV","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-04-28T17:48:48Z","title_canon_sha256":"2c76e880a39b775afeea4e9d7fbb65d942bd295afb7dc87c43020ecca22ddf83"},"schema_version":"1.0","source":{"id":"2204.13683","kind":"arxiv","version":1}},"canonical_sha256":"2ab6dd257ab24a00d2c665caf81fba748ea75b632a1e168a2a339fa4fded3c2c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2ab6dd257ab24a00d2c665caf81fba748ea75b632a1e168a2a339fa4fded3c2c","first_computed_at":"2026-07-05T04:18:44.613695Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:18:44.613695Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"/L4LTo4Ef6cYi5vxo0dKZQlgcrEX9ooRHXDVDYI9xSTeg3q1x2kYagy/1kWmdI3gC8oOms2PvKsDWxkUMqlSDA==","signature_status":"signed_v1","signed_at":"2026-07-05T04:18:44.614290Z","signed_message":"canonical_sha256_bytes"},"source_id":"2204.13683","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3f6511cc07a1dda3dac582be6ef9ce53a7465e88c8804b72b506e74fa74a4ff3","sha256:5d1e8aaaf2b7350964b8b3d6ceaae483b37442322f594524bed46dd82c227ee5"],"state_sha256":"e87c2799a290018692793957dfb96da2410f4204b5ffa2ca02ed1163f91c7ee1"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"N38YzFjBfZc1+eXm8CkhJA8+f5D5UUAg3aI/DDlH7wHzdlPH5TSmWV39dgP1RoEo1wEO8DpQSKKXM/Sb4XAJCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T08:11:35.560806Z","bundle_sha256":"299f5c2c4a9b4dae773fe875235b7184ecd714610d37d965336c13044c2179e2"}}